Comparing Commercial Depth Sensor Accuracy for Medical Applications

Abstract:Depth estimation has numerous medical and surgical applications. We benchmark four depth sensors on a porcine bone specimen, a porcine belly specimen, and a silicone kidney phantom using stylus-sampled references. These objects contain several real-world challenges, including homogeneous surfaces, specular surfaces, and subsurface scattering. The comparison includes stereo, structured-light, and time-of-flight sensors at a distance of approximately 50 cm. Specifically, the Intel RealSense D405 (Intel RealSense, United States), PMD Flexx2 (pmdtechnologies, Germany), Stereolabs ZED 2i (Stereolabs, France), and Zivid 2M+ 60 (Zivid, Norway) are compared. The Zivid 2M+ 60 performed best across all objects and metrics considered in this work. The ZED ranked second for real tissue, but last on the phantom.

Robotics (cs.RO); Computer Vision and Pattern Recognition (cs.CV)

arXiv:2606.13028 [cs.RO]

(or arXiv:2606.13028v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2606.13028 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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